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PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)

4.2

Testing with a simple TMCL

program

Open the file test2.tmc. Change the

motor number 2

in the second paragraph in

motor number 0

(because

there is only one motor involved). Now your test program looks as follows:

Assemble

Download

Run

Stop

Click on icon

Assemble

to convert the TMCL™ into machine code.

Then download the program to the TMCM-1060 module via the icon

Download

Press icon

Run

. The desired program will be executed.

Click

Stop

button to stop the program.

//A simple example for using TMCL

™

and TMCL-IDE

SAP

4, 0, 50000

//Set max. Velocity

SAP

5, 0, 5000

//Set max. Acceleration

Loop:

MVP

ABS

, 0, 100000

//Move to Position 10000

WAIT

POS

, 0, 0

//Wait until position reached

MVP

ABS

, 0, -100000

Move to Position -10000

WAIT

POS

, 0, 0

//Wait until position reached

Loop

//Infinite Loop

Summary of Contents for PD57-1060

Page 1: ...MIC Motion Control GmbH Co KG Hamburg Germany www trinamic com V 1 04 TMCL FIRMWARE MANUAL TMCM 1060 PD57 1060 PD60 1060 1 axis stepper controller driver 2 8A RMS 12 24 or 48V DC USB mini USB RS485 an...

Page 2: ...Configuring the ASCII interface 21 5 7 Commands 22 5 7 1 ROR rotate right 22 5 7 2 ROL rotate left 23 5 7 3 MST motor stop 24 5 7 4 MVP move to position 25 5 7 5 SAP set axis parameter 27 5 7 6 GAP ge...

Page 3: ...ction 89 5 7 37 Request target position reached event 90 5 7 38 BIN return to binary mode 91 5 7 39 TMCL Control Functions 92 6 Axis parameters 94 7 Global parameters 100 7 1 Bank 0 100 7 2 Bank 1 102...

Page 4: ...s are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or...

Page 5: ...rol and communication protocol handling Integrated bipolar stepper motor driver based on TMC262 Up to 256 microsteps per full step High efficient operation low power dissipation MOSFETs with low RDS O...

Page 6: ...060 module the Atmel AT91SAM7X256 is used to run the TMCL operating system The CPU has 256KB flash memory and a 64KB RAM The microcontroller runs the TMCL Trinamic Motion Control Language operating sy...

Page 7: ...t with a fitting one You will find more information about the motor connector in the PD57 60 1060 Hardware Manual The things you need PD57 60 1060 Interface RS485 USB CAN step dir suitable to your PAN...

Page 8: ...T EH series B4B EH connector is used as power connector on board Please connect as follows 4 1 Pin Label Description 1 UDriver Module driver stage power supply input 2 ULogic Optional separate digital...

Page 9: ...re the COM port you intend to use is not blocked by another program Open TMCL IDE by clicking TMCL exe Choose Setup and Options and thereafter the Connection tab For RS485 choose COM port and type wit...

Page 10: ...oad Run Stop 1 Click on icon Assemble to convert the TMCL into machine code 2 Then download the program to the TMCM 1060 module via the icon Download 3 Press icon Run The desired program will be execu...

Page 11: ...te The first motor is rotating now MST motor stop motor 0 Click Execute The first motor stops now You will find a description of all TMCLTM commands in the following chapters Attention Please mind the...

Page 12: ...ol commands but also commands to control the program structure like conditional jumps compare and calculating Every command has a binary representation and a mnemonic The binary format is used to send...

Page 13: ...phi var i Checksum byte Command array 0 8 of byte Set the Command array to the desired command Calculate the Checksum Checksum Command 0 for i 1 to 7 do Checksum Checksum Command i Command 8 Checksum...

Page 14: ...You can load them down into the EEPROM and then it will run on the module The TMCL IDE contains an editor and the TMCL assembler where the commands can be entered using their mnemonic format They wil...

Page 15: ...e and in stand alone mode Mnemonic Command number Meaning SIO 14 Set output GIO 15 Get input 5 4 4 Control commands These commands are used to control the program flow loops conditions jumps etc It do...

Page 16: ...Interrupt types There are many different interrupts in TMCL like timer interrupts stop switch interrupts position reached interrupts and input pin change interrupts Each of these interrupts has its ow...

Page 17: ...the use of a timer interrupt VECT 0 Timer0Irq define the interrupt vector SGP 0 3 1000 configure the interrupt set its period to 1000ms EI 0 enable this interrupt EI 255 globally switch on interrupt...

Page 18: ...11 parameter bank number Store global parameter TMCL user variables only RSGP 12 parameter bank number Restore global parameter TMCL user variable only RFS 13 START STOP STATUS motor number Reference...

Page 19: ...download mode target command execution is stopped and all following commands are transferred to the TMCL memory don t care don t care starting address of the application 133 quit download mode target...

Page 20: ...500 A MST 1 ABIN These command lines would address the module with address 1 To address e g module 3 use address character C instead of A The last command line shown above will make the module return...

Page 21: ...binary mode default Bit 4 and Bit 5 determine how the characters that are entered are echoed back Normally both bits are set to zero In this case every character that is entered is echoed back when th...

Page 22: ...The speed is given in microsteps per second pps The range is 268 435 455 268 435 454 Internal function First velocity mode is selected Then the velocity value is transferred to axis parameter 0 target...

Page 23: ...435 455 268 435 454 Internal function First velocity mode is selected Then the velocity value is transferred to axis parameter 0 target velocity Related commands ROR MST SAP GAP Mnemonic ROL 0 velocit...

Page 24: ...t velocity is set to zero Related commands ROL ROR SAP GAP Mnemonic MST 0 Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 3 don t care 0 don t care motor number is always O as only one motor...

Page 25: ...anged while positioning is in progress with some restrictions Please note that the distance between the actual position and the new one should not be more than 2 147 483 647 microsteps Otherwise the m...

Page 26: ...ward move relative 1000 Mnemonic MVP REL 0 1000 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target address Instruction Number Type Motor Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 C...

Page 27: ...t of parameters which can be used for SAP Number Axis Parameter Description Range Unit 0 target next position The desired position in position mode see ramp mode no 138 2 147 483 648 2 147 483 647 ste...

Page 28: ...and MVP 0 position mode Steps are generated when the parameters actual position and target position differ Trapezoidal speed ramps are provided 1 velocity mode The motor will run continuously and the...

Page 29: ...1 12 positive hysteresis end setting 3 12 166 chopper hysteresis start Hysteresis start setting Please remark that this value is an offset to the hysteresis end value 0 8 167 chopper off time The off...

Page 30: ...on 0 standard mode 1 filtered mode 0 1 174 stallGuard2 threshold This signed value controls stallGuard2 threshold level for stall output and sets the optimum measurement range for readout A lower valu...

Page 31: ...194 ref search speed Speed for searching the switch roughly 0 268 435 454 pps 195 ref switch speed Speed for exact search of the switch 0 268 435 454 pps 204 freewheeling Time after which the power t...

Page 32: ...Control GmbH Co KG Example Set the absolute maximum current of motor to 200mA Mnemonic SAP 6 0 200 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target address Instruction Number Type Motor Bank Operan...

Page 33: ...e STATUS VALUE 100 OK don t care List of parameters which can be used for GAP Number Axis Parameter Description Range Unit 0 target next position The desired position in position mode see ramp mode no...

Page 34: ...1 left stop switch disabled 0 left stop switch enabled 0 1 128 ramp mode Automatically set when using ROR ROL MST and MVP 0 position mode Steps are generated when the parameters actual position and ta...

Page 35: ...1 12 positive hysteresis end setting 3 12 166 chopper hysteresis start Hysteresis start setting Please remark that this value is an offset to the hysteresis end value 0 8 167 chopper off time The off...

Page 36: ...dard mode 1 filtered mode 0 1 174 stallGuard2 threshold This signed value controls stallGuard2 threshold level for stall output and sets the optimum measurement range for readout A lower value gives a...

Page 37: ...tch from both sides 5 search home switch in negative direction reverse the direction when left stop switch reached 6 search home switch in positive direction reverse the direction when right stop swit...

Page 38: ...oder steps 210 encoder prescaler Prescaler for the encoder See paragraph 0 212 maximum encoder deviation When the actual position parameter 1 and the encoder position parameter 209 differ more than se...

Page 39: ...umber Value s chapter 6 0 s chapter 6 List of parameters which can be used for STAP Number Axis Parameter Description 4 maximum positioning speed Should not exceed the physically highest possible valu...

Page 40: ...ch in positive direction ignore end switches 8 search home switch in negative direction ignore end switches Adding 128 to these values reverses the polarity of the home switch input 194 ref search spe...

Page 41: ...0 1 2 3 4 5 6 7 8 Function Target address Instruction Number Type Motor Bank Operand Byte3 Operand Byte2 Operand Byte1 Operand Byte0 Checksum Value hex 01 07 04 00 00 00 00 00 0d Note The STAP command...

Page 42: ...g speed Should not exceed the physically highest possible value Adjust the pulse divisor no 154 if the speed value is very low 50 or above the upper limit 5 maximum acceleration The limit for accelera...

Page 43: ...r searching the switch roughly 195 ref switch speed Speed for exact search of the switch 204 freewheeling Time after which the power to the motor will be cut when its velocity has reached zero 210 enc...

Page 44: ...erred to the correct position in the appropriate on board device Related commands GGP STGP RSGP AGP Mnemonic SGP parameter number bank number value Binary representation INSTRUCTION NO TYPE MOT BANK V...

Page 45: ...on automatically after power up 0 1 80 shutdown pin functionality Select the functionality of the SHUTDOWN pin 0 no function 1 high active 2 low active 0 2 81 TMCL code protection Protect a TMCL progr...

Page 46: ...pplications 2 147 483 648 2 147 483 647 13 general purpose variable 13 for use in TMCL applications 2 147 483 648 2 147 483 647 14 general purpose variable 14 for use in TMCL applications 2 147 483 64...

Page 47: ...n Control GmbH Co KG Example Set the serial address of the target device to 3 Mnemonic SGP 66 0 3 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target address Instruction Number Type Motor Bank Operand...

Page 48: ...ect mode STATUS VALUE 100 OK don t care Global parameters of bank 0 which can be used for GGP Number Global parameter Description Range 64 EEPROM magic Setting this parameter to a different value as E...

Page 49: ...pin 0 no function 1 high active 2 low active 0 2 81 TMCL code protection Protect a TMCL program against disassembling or overwriting 0 no protection 1 protection against disassembling 2 protection aga...

Page 50: ...2 147 483 648 2 147 483 647 7 general purpose variable 7 for use in TMCL applications 2 147 483 648 2 147 483 647 8 general purpose variable 8 for use in TMCL applications 2 147 483 648 2 147 483 647...

Page 51: ...etween two interrupts ms 0 4 294 967 295 ms 2 Timer 2 period ms Time between two interrupts ms 0 4 294 967 295 ms 39 Input 0 edge type 0 off 1 low high 2 high low 3 both 0 3 40 Input 1 edge type 0 off...

Page 52: ...parameters of bank 2 which can be used for STGP Bank 2 contains general purpose 32 bit variables for the use in TMCL applications They are located in RAM and can be stored to EEPROM After booting thei...

Page 53: ...purpose variables 20 55 for use in TMCL applications Global parameters of bank 3 which can be used for STGP The global parameter bank 3 is not required for the STGP command Example Store the user var...

Page 54: ...mer specific extensions of the firmware Global parameters of bank 2 which can be used for RSGP Bank 2 contains general purpose 32 bit variables for the use in TMCL applications They are located in RAM...

Page 55: ...pplications 20 55 general purpose variables 20 55 for use in TMCL applications Global parameters of bank 3 which can be used for RSGP The global parameter bank 3 is not required for the RSGP command E...

Page 56: ...ked Internal function The reference search is implemented as a state machine so interaction is possible during execution Related commands WAIT Mnemonic RFS START STOP STATUS 0 Binary representation IN...

Page 57: ...t number bank number value Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 14 port number bank number value Reply structure STATUS VALUE 100 OK don t care Example Set OUT_1 to high bank 2 out...

Page 58: ...set to a value between 0 255 where every bit represents one output line Furthermore the value can also be set to 1 In this special case the contents of the lower 8 bits of the accumulator are copied t...

Page 59: ...affecting the accumulator The actual status of a digital output line can also be read Internal function The specified line is read Related commands SIO WAIT Mnemonic GIO port number bank number Binar...

Page 60: ...l or analogue inputs at the same time The analogue values can be accessed in bank 1 Reading both digital inputs with one GIO command Set the type parameter to 255 and the bank parameter to 0 In this c...

Page 61: ...s digital or analogue inputs at the same time The digital states can be accessed in bank 0 5 7 15 3 I O bank 2 the states of digital outputs The states of the OUT lines that have been set by SIO comma...

Page 62: ...LCX COMP JC AAP AGP GAP GGP GIO Mnemonic CALC operation value where op is ADD SUB MUL DIV MOD AND OR XOR NOT or LOAD Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 19 0 ADD add to accu 1 SUB...

Page 63: ...t or calculate instruction see GAP GGP GIO CALC CALCX The internal arithmetic status flags are set according to the comparison result Related commands JC jump conditional GAP GGP GIO CALC CALCX Mnemon...

Page 64: ...atus flags are in the appropriate state s Related commands JA COMP WAIT CLE Mnemonic JC condition label where condition ZE NZ EQ NE GT GE LT LE ETO EAL EDV EPO Binary representation INSTRUCTION NO TYP...

Page 65: ...t mode Internal function the TMCL program counter is set to the passed value Related commands JC WAIT CSUB Mnemonic JA Label Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 22 don t care don...

Page 66: ...ternal stack is limited to 8 This also limits nesting of subroutine calls to 8 The command will be ignored if there is no more stack space left Related commands RSUB JA Mnemonic CSUB Label Binary repr...

Page 67: ...ram loads down This command cannot be used in direct mode Internal function The TMCL program counter is set to the last value of the stack The command will be ignored if the stack is empty Related com...

Page 68: ...ied by the ticks parameter RFS Wait until the reference search of the motor specified by the motor field has been reached An optional timeout value 0 for no timeout must be specified by the ticks para...

Page 69: ...mmand should be placed at the end of every stand alone TMCL program It is not to be used in direct mode Internal function TMCL instruction fetching is stopped Related commands none Mnemonic STOP Binar...

Page 70: ...O TYPE MOT BANK VALUE 30 coordinate number 0 20 0 position 223 223 Motor number is always 0 as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Set coordinate 1 o...

Page 71: ...n INSTRUCTION NO TYPE MOT BANK VALUE 31 coordinate number 0 20 0 don t care Motor number is always 0 as only one motor is involved Reply in direct mode STATUS VALUE 100 OK don t care Example Get motor...

Page 72: ...te that the coordinate number 0 is always stored in RAM only Internal function The selected 24 bit position values are written to the 20 by 3 bytes wide coordinate array Related commands SCO GCO MVP M...

Page 73: ...ion about storing coordinates refer to the SCO command Internal function The actual value of the accumulator is stored in the internal position array Related commands GCO CCO MVP COORD SCO Mnemonic AC...

Page 74: ...XOR NOT LOAD SWAP Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 33 0 ADD add X register to accu 1 SUB subtract X register from accu 2 MUL multiply accu by X register 3 DIV divide accu by X...

Page 75: ...de see ramp mode no 138 In position mode this parameter is set automatically to the maximum speed during acceleration and to zero during deceleration and rest 3 actual speed The current rotation speed...

Page 76: ...s supported with a 16 microstep setting only In this setting each step impulse at the input causes the execution of 16 times 1 256 microsteps This way a smooth motor movement like in 256 microstep res...

Page 77: ...r current limit for coolStep operation by scaling the CS Current Scale see axis parameter 6 value minimum motor current 0 1 2 of CS 1 1 4 of CS 169 smartEnergy current down step Sets the number of sta...

Page 78: ...allGuard2 less sensitive and requires more torque to indicate a stall 0 Indifferent value 1 63 less sensitivity 1 64 higher sensitivity 175 slope control high side Determines the slope of the motor dr...

Page 79: ...otor will be cut when its velocity has reached zero 209 encoder position The value of an encoder register can be read out or written 210 encoder prescaler Prescaler for the encoder 212 maximum encoder...

Page 80: ...ters of bank 0 which can be used for AGP Number Global parameter Description 64 EEPROM magic Setting this parameter to a different value as E4 will cause re initialization of the axis and global param...

Page 81: ...t TMCL application automatically after power up 80 shutdown pin functionality Select the functionality of the SHUTDOWN pin 0 no function 1 high active 2 low active 81 TMCL code protection Protect a TM...

Page 82: ...in TMCL applications 10 general purpose variable 10 for use in TMCL applications 11 general purpose variable 11 for use in TMCL applications 12 general purpose variable 12 for use in TMCL application...

Page 83: ...Motion Control GmbH Co KG Example Copy accumulator to TMCL user variable 3 Mnemonic AGP 3 2 Binary Byte Index 0 1 2 3 4 5 6 7 8 Function Target address Instruction Number Type Motor Bank Operand Byte3...

Page 84: ...flag EAL clear the external alarm flag EDV clear the deviation flag EPO clear the position error flag Related commands JC Mnemonic CLE flags where flags ALL ETO EDV EPO Binary representation INSTRUCT...

Page 85: ...presentation INSTRUCTION NO TYPE MOT BANK VALUE 37 interrupt number don t care label The following table shows all interrupt vectors that can be used Interrupt number Interrupt type 0 Timer 0 1 Timer...

Page 86: ...terrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 stallGuard2 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 255 Global interrupts Exam...

Page 87: ...nterrupt type 0 Timer 0 1 Timer 1 2 Timer 2 3 Target position reached 15 stallGuard2 21 Deviation 27 Left stop switch 28 Right stop switch 39 Input change 0 40 Input change 1 255 Global interrupts Exa...

Page 88: ...ction The saved registers A register X register flags are copied back Normal program execution continues Related commands EI DI VECT Mnemonic RETI Binary representation INSTRUCTION NO TYPE MOT BANK VA...

Page 89: ...ecific programming of these functions Internal function Call user specific functions implemented in C by TRINAMIC Related commands none Mnemonic UF0 UF7 Binary representation INSTRUCTION NO TYPE MOT B...

Page 90: ...ernal function Send an additional reply when the motor has reached its target position Mnemonic Binary representation INSTRUCTION NO TYPE MOT BANK VALUE 138 don t care don t care 0 Motor number Reply...

Page 91: ...on Control GmbH Co KG 5 7 38BIN return to binary mode This command can only be used in ASCII mode It quits the ASCII mode and returns to binary mode Related Commands none Mnemonic BIN Binary represent...

Page 92: ...n is started or continued 0 run from current address 1 run from specified address don t care don t care starting address 130 step application only the next command of a TMCL application is executed do...

Page 93: ...when using the CAN bus interface just send this command in an eight byte frame instead of a seven byte frame Then eight bytes will be sent back so you will get all characters of the version string Typ...

Page 94: ...the physically highest possible value Adjust the pulse divisor no 154 if the speed value is very low 50 or above the upper limit 0 268 435 454 pps RWE 5 maximum acceleration The limit for acceleratio...

Page 95: ...nterpolation off 1 step interpolation on 0 1 RW 161 double step enable Every edge of the cycle releases a step microstep It does not make sense to activate this parameter for internal use Double step...

Page 96: ...Number of stallGuard2 measurements per decrement Scaling 0 3 32 8 2 1 0 slow decrement 3 fast decrement 0 3 RW 170 smartEnergy hysteresis Sets the distance between the lower and the upper threshold fo...

Page 97: ...l low side Determines the slope of the motor driver outputs Set identical to slope control high side 0 3 RW 177 short protection disable 0 Short to GND protection is on 1 Short to GND protection is di...

Page 98: ...nd right and switch in microsteps mode 2 and 3 only 0 2 147 483 647 steps R 204 freewheeling Time after which the power to the motor will be cut when its velocity has reached zero 0 65535 0 never msec...

Page 99: ...ed off when the maximum deviation is set to zero 0 65535 encoder steps RWE 214 power down delay Standstill period before the current is changed down to standby current The standard value is 200 value...

Page 100: ...ded Take care when changing these parameters and use the appropriate functions of the TMCL IDE to do it in an interactive way Meaning of the letters in column Access R readable GGP W writeable SGP E a...

Page 101: ...5 for RS485 adapters controlled by the RTS pin For CAN interface this parameter has no effect 0 255 RWE 76 serial host address Host address used in the reply telegrams sent back via RS485 0 255 RWE 77...

Page 102: ...r values are automatically restored to the RAM Up to 56 user variables are available Meaning of the letters in column Access R readable GGP W writeable SGP E automatically restored from EEPROM after r...

Page 103: ...ions 2 147 483 648 2 147 483 647 RWE 20 55 general purpose variables 20 55 use in TMCL applications 2 147 483 648 2 147 483 647 RWE 56 255 general purpose variables 56 255 use in TMCL applications 2 1...

Page 104: ...switch is released Finally the switch is re entered in the other direction setting the reference point to the center of the two switching points This low calibrating speed is a quarter of the maximum...

Page 105: ...witch positive limit switch SAP 193 0 4 negative limit switch Search right stop switch then search left stop switch from both sides Search left stop switch from both sides SAP 193 0 1 negative limit s...

Page 106: ...limit switch positive limit switch home switch SAP 193 0 7 home switch SAP 193 0 8 home switch Search home switch in negative direction reverse the direction when left stop switch reached Search home...

Page 107: ...en the maximum deviation is set to 0 To select a prescaler the following values can be used for p Value for p Resulting prescaler SAP command for motor 0 SAP 210 0 p Microstep solution of axis paramet...

Page 108: ...parameters The figure below gives an overview of the coolStep related parameters Please have in mind that the figure shows only one example for a drive There are parameters which concern the configura...

Page 109: ...n 32 steps 0 255 divided by eight e g step 0 0 7 step 1 8 15 and so on The most important motor setting since too high values might cause motor damage I7 standby current The current limit two seconds...

Page 110: ...heet 8 5 Velocity calculation The axis parameters listed below are related to the speed of the motor The table is an excerpt of the complete table of axis parameters in this chapter The unit of the ve...

Page 111: ...ase note that this will only work with Windows 2000 Windows XP or Windows NT4 not with Windows 95 Windows 98 or Windows ME due to a bug in these operating systems Another problem is that Windows 2000...

Page 112: ...rting all TMCL features 4 31 2011 04 01 Update 4 33 2011 07 27 Update 9 2 Document revision Version Date Author Description 1 00 2010 SEP 16 SD Initial version 1 01 2010 NOV 03 SD New pictures 1 02 20...

Page 113: ...3 Copyright 2011 TRINAMIC Motion Control GmbH Co KG 10 References TMCM 1060 PD57 60 1060 TMCM 1060 and PD57 60 1060 Hardware Manual TMC262 TMC262 Datasheet TMCL IDE TMCL IDE User Manual QSH5718 QSH571...

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